Magnetic connection system for a multi-axis gripper of a lab automation robot

This application claims priority to U.S. Provisional Application No. 63/505,388, which was filed on May 31, 2023 and entitled “Magnetic Connection System for a Multi-Axis Gripper of a Lab Automation Robot”, the contents of which is herein incorporated by reference in its entirety.

The present disclosure relates to automated laboratory systems. More specifically, the present disclosure relates to a magnetic assembly configured to magnetically position a gripper relative to an end effector. In response to a force that can lead to system damage, the magnetic assembly is configured to decouple the gripper from the end effector, which positions the gripper out of alignment with the end effector. This results in a pause in operation before system damage occurs.

In one example of an embodiment, a lab automation robot includes a base, a tower rotatably coupled to the base, an arm translatable relative to the tower, a forearm rotatably coupled to the arm, and a wrist assembly rotatably coupled to the forearm about a wrist joint. The wrist assembly includes an end effector including a first magnet, a cap including a second magnet, a gripper pivotably coupled to the end effector, a linear actuator carried by the gripper, and a sensor carried by the gripper. The second magnet is configured to magnetically couple to the first magnet by a magnetic force. The linear actuator is configured to adjust a position of the gripper relative to the end effector. A portion of the linear actuator extends through the end effector and is coupled to the cap. The sensor is configured to detect an orientation of the gripper relative to the end effector. In response to the first magnet and the second magnet decoupling, the sensor is configured to detect an orientation of the gripper relative to the end effector outside of a predetermined operational range and terminate operation of the linear actuator.

In another example of an embodiment, a lab automation robot includes a wrist assembly configured to move in at least three directions. The wrist assembly includes an end effector, a gripper pivotably coupled to the end effector, a first linear actuator and a second linear actuator, a first cap magnetically connected to the end effector, a second cap magnetically connected to the end effector, a sensor assembly carried by the gripper, and a controller in communication with the sensor assembly. The first and second linear actuators are carried by the gripper. The first cap and end effector cooperatively define a first aperture. A portion of the first linear actuator is received by the first aperture. The second cap and end effector cooperatively define a second aperture. A portion of the second linear actuator is received by the second aperture. The sensor assembly is configured to detect an orientation of the gripper relative to the end effector. In response to a detected orientation of the gripper relative to the end effector being outside of predetermined operational range, the controller is configured to terminate operation of the first and second linear actuators. In response to the detected orientation of the gripper relative to the end effector being outside of predetermined operational range at least one of the magnetic connection between the first cap and the end effector or the magnetic connection between the second cap and the end effector is decoupled.

Other aspects of the invention will become apparent by consideration of the detailed description and accompanying drawings.

Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways.

10 46 46 50 46 46 54 58 114 114 54 58 122 122 206 206 54 206 206 54 58 54 58 122 122 50 114 114 206 206 a b a b a b a b a b a b a b The illustrated embodiment includes a robotic deviceincluding a wrist assembly. The wrist assemblyis rotatable by a wrist joint. The wrist assemblyis configured to grasp and move a component such as a microtiter plate. The wrist assemblyincludes a gripper assembly, an end effector, and magnetic connection systems,. The gripper assemblyis configured to rotate relative to the end effectorby one or more motors,. A first sensorand a second sensoris positioned within the gripper assembly. The sensors,are configured to determine the distance between the gripper assemblyand the end effectorand transmit the distance to a controller. During operation, an impact situation can occur in which the gripper assemblyis out of alignment with the end effector. The impact situation can cause several undesirable outcomes such as damage the motors,, damage the wrist joint, etc. To prevent the undesirable outcomes, the impact situation moves the magnetic connection system,out of alignment. Additionally, the sensors,and controller pause operation before damage can occur.

1 FIG. 10 10 10 10 14 18 14 22 26 18 26 18 22 30 26 30 26 10 34 30 38 38 42 42 22 46 34 50 50 22 42 46 54 54 58 58 50 54 58 62 54 62 54 50 62 62 illustrates an example of the laboratory robot or robotic deviceconfigured to perform at least one scientific process (e.g., an assay, a polymerase chain reaction, etc.). The robotic device(also referred to as a lab automation robot) can be a SCARA type robotic device, such as that sold by Thermo Fisher Scientific, Inc. under the trademark Spinnaker XT. Other types of robotic devices can be used, such as an articulated robotic device, a spider robotic device, or any other suitable types of robotic device. The illustrated robotic deviceincludes a base. A toweris rotatably coupled to the baseabout a first vertical axis. An elevatoris movably coupled to the tower. The elevatoris linearly movable relative to the towerin a direction parallel with the first vertical axis. An armis coupled to the elevator. The armis movable with the elevator. The robotic devicefurther includes an articulating forearmrotatably coupled to the armat an elbow joint. The elbow jointdefines a second vertical axis. The second vertical axisis laterally offset and oriented parallel to the first vertical axis. The wrist assemblyis rotatably coupled to the forearmat the wrist joint. The wrist jointdefines a third vertical axis Z (also referred to as a yaw axis Z). The yaw axis Z is laterally offset and oriented parallel to the first and second vertical axes,. The wrist assemblyincludes a multi-axis gripper(also referred to as the gripper assembly) and the end effector. The end effectoris coupled to and rotatable with the wrist joint. The gripperis pivotably coupled to the end effector. A pair of fingersare coupled to the gripper. The fingersextend from the gripperin a direction away from the wrist joint. The fingersare configured to be moved toward each other (and/or away from each other) for selectively gripping and releasing laboratory equipment (e.g., a microtiter plate, a reagent dispenser, etc.). The fingerscan be, for example, moved in a direction perpendicular to the yaw axis Z.

2 FIG. 4 FIG. 1 FIG. 54 66 70 70 66 74 66 70 74 78 54 66 82 66 84 70 82 62 82 84 With reference to, the illustrated gripper assemblyincludes a housing. A frame(or a body) is coupled to and partially received within the housing. A top coveris coupled to the housingand the body. The top covercan include indiciaprovided to identify an orientation of the gripper. The illustrated housingincludes a pair of lateral cutouts(only one is shown) respectively positioned on opposing sides of the housing. As shown in, a finger mountof the bodyis accessible through each lateral cutout. Each finger(shown in) is configured to extend through a respective lateral cutoutand couple to the respective finger mount.

3 FIG. 46 86 78 86 46 88 88 88 88 88 88 88 a b a a b a b With reference now to, the wrist assemblyis symmetrical about a longitudinal axis(with an exception to the indicia, electronic components, etc.). As such, the longitudinal axisdivides the wrist assemblyinto a first sideand a second sideopposite the first side. Components on the first sidewill be discussed herein with a suffix ‘a,’ and components on the second sidewill be discussed herein with a suffix ‘b.’ For brevity, some components may be explained with reference to only the first side. It should be appreciated that the second sidealso includes an identical component.

3 FIG. 58 86 90 94 94 94 94 94 90 88 94 90 88 a a b b a a b b. With continued reference to, the end effectordefines a generally Y-shaped plate. The Y-shaped plate is symmetrical about the longitudinal axis. The Y-shaped plate includes a base portion, a first prong portion(also referred to as a first prong), and a second prong portion(also referred to as a second prong). The first prong portionextends outwardly from the base portionon the first side. The second prong portionextends outwardly from the base portionon the second side

3 FIG. 7 FIG. 58 54 50 98 98 98 94 98 94 98 98 70 54 58 98 98 a b a a b b a b a b. With continued reference to, the end effectoris coupled to the gripperby the wrist joint, a first linear actuator assembly, and a second linear actuator assembly. The first linear actuator assemblyextends through and is coupled to the first prong portion. The second linear actuator assemblyextends through and is coupled to the second prong portion. In addition, each linear actuator assembly,is coupled to the body(shown in). The gripperis pivotable relative to the end effectorby the linear actuator assemblies,

4 FIG. 1 FIG. 50 102 104 102 90 54 104 34 102 104 54 58 102 54 58 34 As best illustrated in, the wrist jointincludes a lower portionand an upper portion. The lower portionis coupled to the base portionand the gripper. The upper portionis configured to be coupled to a corresponding bore (not shown) in a lower surface of the forearm(shown in). The lower portionis configured to rotate relative to the upper portion. The gripper assemblyand the end effectorrotate with the lower portion, which facilitates rotation of the gripper assemblyand the end effectorrelative to the forearm.

5 7 FIGS.and 7 FIG. 98 106 110 110 112 112 114 118 106 122 126 130 126 128 130 132 130 128 132 128 130 122 130 130 132 128 130 70 58 110 134 138 134 130 134 130 138 138 142 146 142 150 94 146 152 118 150 152 130 138 110 146 110 106 118 58 112 154 156 154 126 156 70 154 156 58 106 106 54 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a b With reference to, the first linear actuator assemblyincludes a linear actuator, an upper spherical bearing(also referred to as a first bearing), a lower spherical bearing(also referred to as a second bearing), the magnetic connection system, and a cap. The linear actuatorincludes the motor, a housing, and a drive shaft. With specific reference to, the housingincludes a threaded bore. The drive shaftincludes a threaded portion. The drive shaftis received by the threaded bore, with the threaded portionin threaded engagement with the threaded bore. The drive shaftis configured to be rotated by the motor. Rotation of the drive shaftresults in linear actuation of the drive shaftalong a translation axis Ta, as the threaded portiontranslates relative to the threaded bore. Linear actuation of the drive shaftcauses the bodyto move (raise or lower) relative to the end effector. The upper spherical bearingincludes an inner raceand an outer race. The inner raceis coupled to the drive shaft. The inner raceis configured to rotate with the drive shaftrelative to the outer race. The outer raceis sandwiched between a prong counterboreand a cap counterbore. The prong counterboreis positioned around a prong apertureon an end of the prong portion. The cap counterboreis positioned around a central cap aperturethat extends through the cap. The prong apertureand the central cap aperturecooperatively define a first aperture (not shown). The drive shaftat least partially extends through the first aperture. The outer raceof the upper spherical bearingis coupled to the cap counterbore. As such, the upper spherical bearingis configured to move with the linear actuatorand the capaway from the end effectorduring the impact situation, which is described in further detail below. The lower spherical bearingalso includes an inner raceand an outer race. The inner raceis coupled to the housing. The outer raceis coupled to the body. The inner raceis configured to rotate relative to the outer raceto change the position of the translation axis Ta as the end effectoris pivoted. It should be appreciated that each linear actuator,is carried by the gripper.

7 FIG. 5 FIG. 5 FIG. 98 106 106 110 110 112 112 106 106 106 106 130 130 126 126 70 58 98 98 70 58 54 34 106 106 a a b a b a b a b a b a b a b a b a b With continued reference to(which shows the linear actuator assembly), the first linear actuatorand the second linear actuatorcan be selectively actuated (e.g., by a controller, by a button, etc.) independently of each other. The upper and lower spherical bearings,,,permit changes in angular alignment of the translation axes Ta, Tb (translation axis Tb shown in) of the linear actuators,(relative to the yaw axis Z) as the linear actuators,are extended or retracted. The angular alignment of each translation axis Ta, Tb is adjusted as the drive shafts,move relative to the housings,. The movement of the bodyrelative to the end effectorcauses the adjustment in alignment of the translation axes Ta, Tb. As such, each linear actuator assembly,is configured to accommodate various movements of the bodyrelative to the end effector. The gripperis further rotatable relative to at least the forearmby the linear actuators,about a first horizontal axis or “roll axis” Y and about a second horizontal axis or “pitch axis” X (shown in), which is described in further detail below.

5 6 FIGS.and 6 FIG. 114 114 114 158 160 158 158 162 94 162 94 162 94 162 158 114 94 162 162 150 160 160 166 118 166 118 166 118 166 160 114 118 166 166 152 a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a. With reference to, the magnetic connection systemincludes at least one magnet. The illustrated magnetic connection systemincludes a plurality of magnets. More specifically, the illustrated magnetic connection systemincludes a plurality of prong magnetsand a plurality of cap magnets. Each prong magnet(or first magnet) is received in a respective prong magnet retainerin the first prong portion. The prong magnet retainersare apertures extending through the first prong portion. In one or more examples of embodiments, the prong magnet retainersextend partially through the first prong portion. The number of prong magnet retainerscorresponds to the number of prong magnetsin the magnetic connection system. In the illustrated embodiment, the first prong portionincludes four prong magnet retainers. The prong magnet retainersare evenly spaced around the prong aperture. Each cap magnet(or second magnet) is received in a respective cap magnet retainerin the cap(shown in). The cap magnet retainersare recesses extending into the cap. In one or more examples of embodiments, the cap magnet retainersextend through the cap. The number of cap magnet retainerscorresponds to the number of cap magnetsin the magnetic connection system. In the illustrated embodiment, the capincludes four cap magnet retainers. The cap magnet retainersare evenly spaced around the central cap aperture

10 162 166 158 160 160 158 158 160 162 166 10 158 160 162 166 158 160 158 160 162 166 150 152 162 166 a a a a a a a a a a a a a a a a a a a a a a a a The robotic deviceincludes the same number of prong magnet retainersand cap magnet retainers. The prong and cap magnets,are oriented such that each of the cap magnetsare configured to magnetically attract (or form a magnetic connection) to a corresponding prong magnet. The magnetic attraction or magnetic force between the prong and cap magnets,causes the prong magnet retainersand the cap magnet retainersto align. In other embodiments, the robotic devicecan include fewer or more prong and cap magnets,(e.g., two, three, five, six, etc.). As such, the robotic device can include fewer or more prong and cap magnet retainers,to correspond with the number of prong and cap magnets,. The number or size of prong and cap magnets,can be adjusted to achieve any suitable magnetic force. In other embodiments, the prong and cap magnet retainers,can be unevenly spaced around the prong apertureand central cap aperture, respectively. In these embodiments, the prong and cap magnet retainers,are still configured to be aligned with each other.

10 130 106 130 130 134 130 138 118 138 118 158 160 118 94 130 118 110 118 94 130 126 158 160 118 94 a a a a a a a a a a a a a a a a a a a a a a a a a. During normal operation of the robotic device, force is generated by the drive shaftas the linear actuatoris actuated. More specifically, rotation of the drive shaftwill create a rotational force, and linear actuation of the drive shaftwill create a linear force. As the inner racerotates with the drive shaft, a portion of the rotational force may be transferred to the outer race(by friction). Since the capis coupled to the outer race, the capwill receive the rotational force. However, the magnetic force between the prong and cap magnets,is sufficient to prevent the capfrom being misaligned with the first prong portion. The linear actuation of the drive shaftcreates the linear force upon the cap(by the upper spherical bearing). The linear force pushes the capaway from the first prong portionwhen the drive shaftis being extended from the housing. However, the magnetic force between the prong and cap magnets,is sufficient to overcome the linear force and keep the capmagnetically coupled to the first prong portion

158 160 10 158 160 118 94 106 158 160 118 94 a a a a a a a a a a a During an impact situation, the magnetic force between the prong and cap magnets,is designed to be overcome to prevent damage to the robotic device. As such, the magnetic force between the prong and cap magnets,is sufficiently strong to maintain alignment between the capand the first prong portionduring normal operative forces (i.e., linear and rotational forces from the linear actuator). However, the magnetic force between the prong and cap magnets,is sufficiently weak to cause the capand the first prong portionto misalign during the impact situation, which is described in further detail below.

7 FIG. 3 FIG. 118 168 168 166 118 168 168 158 160 166 168 160 166 a a a a a a a a a a a a a As best shown in, the capincludes relief apertures. The illustrated relief aperturesare aligned with the cap magnet retainers. As such, each illustrated capincludes four relief apertures(shown in). The relief aperturesare configured to release air (e.g., from between prong and cap magnets,, within the cap magnet retainers, etc.). The relief aperturescan also be used to remove one of the cap magnetsfrom the respective cap magnet retainer(e.g., by pressurized air, a rigid tine, etc.).

5 FIG. 6 FIG. 54 50 170 54 50 170 174 174 178 178 102 50 170 180 174 170 182 174 180 186 186 190 70 70 58 186 182 194 194 198 102 50 70 58 194 With returned reference to, the gripperis pivotably coupled to the wrist jointby a dual-axis yoke. The gripperis pivotable relative to the wrist jointabout both the roll axis Y and the pitch axis X. The illustrated yokeincludes a generally square-shaped peripheral wall. The peripheral walldefines a generally square-shaped cavity. The cavityis configured to receive the square-shaped lower portionof the wrist joint. The yokeincludes a pair of first pivot boreson opposing sides of the peripheral wall, which define the pitch axis X. The yokealso includes a pair of second pivot borespositioned on the other opposing sides of the peripheral wall, which define the roll axis Y. Each first pivot borereceives a first pivot pin. Each first pivot pinis also received by a base pivot boreof the body. As such, the bodyis pivotable about the pitch axis X relative to the end effectorby the first pivot pins. The pair of second pivot boresreceive a single second pivot pin. The second pivot pinalso extends through a central borein the lower portionof the wrist joint(). As such, the bodyis pivotable about the roll axis Y relative to the end effectorby the second pivot pin.

70 170 58 102 34 70 170 58 102 34 70 170 58 102 34 178 170 The bodycan rotate about the yaw axis Z together with the yoke, the end effector, and the lower portionrelative to the forearm. The bodycan also rotate about the roll axis Y together with the yokerelative to the end effector, the lower portion, and the forearm. The bodycan further rotate about the pitch axis X relative to the yoke, the end effector, lower portion, and the forearm. In the illustrated embodiment, the yaw, roll, and pitch axes Z, Y, X intersect at a point located within the square-shaped cavityof the yoke.

106 106 106 106 106 106 70 54 a b a b a b The linear actuators,are equally spaced apart from the pitch axis X on a same side thereof. The linear actuators,are also equally spaced apart from the roll axis Y on opposite sides thereof. As a result, various operations of one or both of the linear actuators,adjusts the orientation of the body(and thus the gripper) relative to the pitch and/or roll axes X, Y.

54 54 54 202 88 202 88 202 202 204 204 202 202 204 204 202 202 204 204 202 206 202 210 214 206 94 206 94 202 202 202 202 202 202 206 206 206 206 54 58 54 206 206 54 206 206 10 10 10 206 206 10 106 106 a a b b a b a b a b a b a b a b a a a a a a a a a b a a b a b a b a b a b a b a b a b 8 FIG. 5 FIG. 7 FIG. The gripperincludes a plurality sensor assemblies. Stated another way, the sensor assemblies are carried by the gripper. More specifically, the gripperincludes a first sensor assemblyon the first sideand a second sensor assemblyon the second side. The sensor assemblies,are positioned within respective sensor recesses,. The sensor assemblies,and sensor recesses,are equally spaced apart from the pitch axis X on a same side thereof. The sensor assemblies,and sensor recesses,are also equally spaced apart from the roll axis Y on opposite sides thereof. With reference to, the first sensor assemblyincludes the sensor(e.g., a capacitive proximity sensor, a photoelectric proximity sensor, etc.). The illustrated sensor assemblyalso includes a light(e.g., an LED, a plurality of LED's, etc.) and a pair of capacitors. The illustrated sensoris aligned with the first prong portion(shown in). The sensoris configured to measure a distance to the first prong portion. The second sensor assemblyis identical to the first sensor assembly. As such, it should be appreciated that while the first sensor assemblyis shown in, it is also representative of the second sensor assembly. In operation, the sensor assemblies,, and the associated sensors,, are in communication with the controller. The distance measured by each sensor,is sent to the controller to determine the position of the gripperrelative to the end effector. As the gripperrotates about the pitch and roll axes X, Y, the sensors,and the controller are used to determine the orientation of the gripper. The sensors,and the controller are configured to determine if the robotic deviceis operating within a predetermined operational range. The predetermined operational range is a range of operational conditions (e.g., angular rotations, linear movement, etc.) that is safe for operation. Stated another way, the robotic deviceis not in danger of being damaged when the robotic deviceoperates within the predetermined operational range. If the sensors,detect the robotic deviceoperating outside of the predetermined operational range, operation of the linear actuators,is terminated.

106 106 122 122 106 106 130 130 126 126 106 106 130 130 126 126 106 106 130 130 126 126 54 58 54 58 a b a b a b a b a b a b a b a b a b a b a b During operation, the linear actuators,can be activated, such as by receipt of a signal sent from the controller to the motors,. In a first example, the linear actuators,can extend (or retract) the respective drive shafts,relative to the respective housings,in the same direction for the same distance. Stated another way, the linear actuators,can extend each drive shaft,into the respective housing,the same distance. Similarly, the linear actuators,can withdraw each drive shaft,into its respective housing,the same distance. This movement will facilitate rotation of the gripperabout the pitch axis X relative to the end effector. In some embodiments, the grippercan be rotated about the pitch axis X in the predetermined operational range. For example, the predetermined operational range of pitch axis X rotation can be between −3° (−3 degrees) and +3° (+3 degrees) relative to the end effector.

106 106 130 130 126 126 106 106 130 130 126 126 106 106 130 130 126 126 54 58 54 58 a b a b a b a b a b a b a b a b a b In a second example, the linear actuators,can extend (or retract) the respective drive shafts,relative to the respective housings,in opposing directions for the same distance. Stated another way, one of the linear actuators,can extend the drive shaft,into its respective housing,the same distance. Alternatively, the other of the linear actuators,can withdraw the drive shaft,from its respective housing,the same distance. This movement will facilitate rotation of the gripperabout the roll axis Y relative to the end effector. In some embodiments, the grippercan be rotated about the roll axis Y in the predetermined operational range. For example, the predetermined operational range of roll axis Y rotation can be between −3° and +3° relative to the end effector.

106 106 130 130 126 126 130 130 106 106 54 a b a b a b a b a b In a third example, the linear actuators,can extend (or retract) the respective drive shafts,relative to the respective housings,different distances. The drive shafts,can extend (or retract) in the same or opposing directions. As such, the movement of the linear actuators,provides controlled adjustment of the gripperabout both the pitch and roll axes X, Y.

46 50 46 50 46 34 In a fourth example, the wrist assemblyis rotated about the yaw axis Z by the wrist joint. The illustrated wrist assemblycan rotate 360° about the wrist joint. In some embodiments, the wrist assemblycan be rotated about the yaw axis Z in the predetermined operational range. For example, the predetermined operational range of yaw axis Z rotation can be between −180° and +180° relative to the forearm.

46 26 46 18 18 In a fifth example, the wrist assemblyis linearly actuated by the elevator. The illustrated wrist assemblyis linearly actuatable along a height defined by the size of the tower. The height of the towercan define the predetermined operational range of linear movement.

46 22 18 18 14 18 22 22 14 In a sixth example, the wrist assemblyis rotated about the first vertical axisby the tower. The illustrated towercan rotate 3600 about the base. In some embodiments, the towercan be rotated about the first vertical axisin the predetermined operational range. For example, the predetermined operational range of first vertical axisrotation can be between −180° and +180° relative to the base.

54 26 54 62 54 62 54 102 104 10 54 50 122 122 10 158 160 158 160 54 62 160 158 158 160 158 160 118 58 118 58 54 58 206 206 54 58 122 122 10 a b a a a a a a a a a a a a a b a b As the gripperis rotated about one or more of the axes X, Y, Z and linearly actuated (by the elevator), the gripperor the fingerscan unintentionally impact an object. As a nonlimiting example, the gripper(and/or the fingers) can impact a microtiter plate (or another sizable object) in an environment of operation. Impacting the object can cause an impact force on the gripper, and associated components. As a nonlimiting example, the impact can be in an upward direction (i.e., the direction defined along the yaw axis Z from the lower portiontoward the upper portion). The impact force is undesirable, as it can cause damage to one or more components of the robotic device, such as the gripper, the wrist joint, the motors,, etc. To prevent damage to the robotic device, the magnetic force of the prong and cap magnets,is designed to be overcome in response to the impact force (also referred to as an external force), which generates an error state. Stated another way, the magnetic force of attraction between the prong magnetsand the cap magnetsare configured to be less than the impact force. Accordingly, in response to the impact force on the gripper(or fingers), each cap magnetis configured to decouple from the associated prong magnet(or the first magnetand the second magnetdecouple). As the prong and cap magnets,decouple, the capis configured to decouple (or pop-off) from the end effector. In response to the capbeing decoupled from the end effector, the gripperis positioned out of operational alignment with the end effector. The sensors,can detect a change in distance between the gripperand the end effector, and more specifically a distance that is outside of the predetermined operational range. In response, the controller is configured to shut down (or shut off or terminate operation of) at least the motors,to prevent potential damage. In some embodiments, the controller can shut down (or shut off or terminate operation of) one or more additional components or the entire robotic device.

118 58 10 10 158 160 118 58 158 160 118 58 118 58 158 160 118 58 54 58 206 206 54 58 10 a a a a a a a a a a a a b After the capis decoupled from the end effector, the robotic deviceis in an error state. During the error state, the robotic devicewill not operate until the prong and cap magnets,are reengaged and the capis realigned with the end effector. To reengage the prong and cap magnets,, the capis returned into contact with the end effector(e.g., by manual movement of the captoward the end effector, through the magnetic force, etc.). The magnetic force of the prong and cap magnets,will then cause the capto realign with the end effector. This causes the gripperto realign with the end effectorto a position within a predetermined operational range. The sensors,will detect that the gripperis aligned with and operatively coupled to the end effector. The controller will then remove the error state and will allow for operation of the robotic deviceto resume.

Although the invention has been described in detail with reference to certain preferred embodiments, variations and modifications exist within the scope and spirit of one or more independent aspects of the invention as described. Various features and advantages of the invention are set forth in the following claims.